4 papers
DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation
Yunchao Yao, Zhuxiu Xu, Tianqi Zhang +12
Building general-purpose dexterous manipulation policies requires benchmarks that go beyond isolated tasks to systematically evaluate policies across diverse interaction modes, sen…
DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand
Dihong Huang, Zhenyu Wei, Zhuxiu Xu +3
Dexterous manipulation policies can solve individual skills, but composing them to perform multiple tasks with a single hand remains challenging. Adding a new task on top of an exi…
GenDexHand: Generative Simulation for Dexterous Hands
Feng Chen, Zhuxiu Xu, Tianzhe Chu +7
Data scarcity remains a fundamental bottleneck for embodied intelligence. Existing approaches use large language models (LLMs) to automate gripper-based simulation generation, but…
Reactive Aerobatic Flight via Reinforcement Learning
Zhichao Han, Xijie Huang, Zhuxiu Xu +5
Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive man…